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盾构掘进机刀盘驱动装置及其同步控制方法
Alternative TitleCutter head driving device for shield tunneling machine and synchronous control method thereof
李先宏; 于海斌; 苑明哲; 郁洋
Department信息服务与智能控制技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种盾构掘进机刀盘驱动装置及其控制方法,驱动装置包括多个驱动电机、多个减速机、主传动箱、圆形刀盘和循环油泵;盾构掘进机刀盘同步控制方法为对多个驱动电机进行同步并行的PID闭环控制;多个驱动电机的参考输入信号相同;对每个驱动电机的输出信号采用同步误差补偿方法计算补偿信号,并反馈到所对应驱动电机的输入端;补偿信号与最优PID控制器输出的控制信号相加输入至对应驱动电机。本发明解决了盾构掘进机刀盘多电机同步出力运行的技术难题;提高了盾构掘进机刀盘驱动系统的出力同步性能与跟踪性能;保证刀盘多电机之间具有相同的稳态转矩或者速度,还能保证盾构掘进机刀盘多个驱动电机之间的动态性能也尽可能相同。
Other Abstract

The invention relates to a cutter head driving device for a shield tunneling machine and a control method thereof. The driving device comprises a plurality of driving motors, a plurality of speed reducers, a main transmission box, a circular cutter head and a circulating oil pump. The synchronous control method for a cutter head of the shield tunneling machine comprises the following steps of: performing synchronous and parallel PID (Proportion Integration Differentiation) closed-loop control on the driving motors keeping the reference input signals of the driving motors the same computing the compensation signal of the output signal of each driving motor by adopting a synchronous error compensation method, and feeding back to the input end of a corresponding driving motor and adding the compensation signals with a control signal output by an optimal PID controller, and inputting into a corresponding driving motor. Due to the adoption of the cutter head driving device and the synchronous control method, the technical problem of synchronous running of a plurality of motors of the cutter head of the shield tunneling machine is solved the running synchronous performance and tracking performance of a cutter head driving system of the shield tunneling machine are improved and the motors of the cutter head are enabled to have the same stable torque or speed, and dynamic performances among the driving motors of the cutter head of the shield tunneling machine can be kept the same.

PCT Attributes
Application Date2012-07-31
2013-04-03
Date Available2015-06-24
Application NumberCN201210272275.1
Open (Notice) NumberCN103016014A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/13407
Collection信息服务与智能控制技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
李先宏,于海斌,苑明哲,等. 盾构掘进机刀盘驱动装置及其同步控制方法[P]. 2013-04-03.
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